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@ -25,37 +25,49 @@
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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#include "../gcode.h"
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#include "../../module/delta.h"
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#include "../../module/motion.h"
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#include "../../module/planner.h"
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#include "../../module/stepper.h"
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#include "../../module/endstops.h"
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#include "../../module/motion.h"
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#include "../../module/probe.h"
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#if HOTENDS > 1
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#include "../../module/tool_change.h"
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#endif
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#if HAS_BED_PROBE
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#include "../../module/probe.h"
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#endif
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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#include "../../libs/least_squares_fit.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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// Sanity-check
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// Sanity-check the count of Z_STEPPER_ALIGN_XY points
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constexpr xy_pos_t sanity_arr_z_align[] = Z_STEPPER_ALIGN_XY;
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static_assert(COUNT(sanity_arr_z_align) == Z_STEPPER_COUNT,
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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"Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
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#else
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"Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
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#endif
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);
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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static_assert(COUNT(sanity_arr_z_align) >= Z_STEPPER_COUNT,
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"Z_STEPPER_ALIGN_XY requires at least three {X,Y} entries (Z, Z2, Z3, ...)."
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);
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#else
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static_assert(COUNT(sanity_arr_z_align) == Z_STEPPER_COUNT,
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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"Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
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#else
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"Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
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#endif
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);
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#endif
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static xy_pos_t z_auto_align_pos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_XY;
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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static xy_pos_t z_stepper_pos[] = Z_STEPPER_ALIGN_STEPPER_XY;
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#endif
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xy_pos_t z_auto_align_pos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_XY;
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#define G34_PROBE_COUNT COUNT(z_auto_align_pos)
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inline void set_all_z_lock(const bool lock) {
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stepper.set_z_lock(lock);
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@ -68,7 +80,9 @@ inline void set_all_z_lock(const bool lock) {
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/**
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* G34: Z-Stepper automatic alignment
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*
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* Parameters: I<iterations> T<accuracy> A<amplification>
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* I<iterations>
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* T<accuracy>
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* A<amplification>
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*/
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void GcodeSuite::G34() {
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if (DEBUGGING(LEVELING)) {
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@ -90,11 +104,18 @@ void GcodeSuite::G34() {
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break;
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}
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const float z_auto_align_amplification = parser.floatval('A', Z_STEPPER_ALIGN_AMP);
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if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
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SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
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break;
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}
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const float z_auto_align_amplification =
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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Z_STEPPER_ALIGN_AMP;
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#else
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parser.floatval('A', Z_STEPPER_ALIGN_AMP);
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if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
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SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
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break;
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}
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#endif
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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// Wait for planner moves to finish!
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planner.synchronize();
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@ -130,11 +151,13 @@ void GcodeSuite::G34() {
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#define Z_BASIC_CLEARANCE Z_CLEARANCE_BETWEEN_PROBES
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#endif
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// Compute a worst-case clearance height to probe from. After the first
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// iteration this will be re-calculated based on the actual bed position
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float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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SQRT(_MAX(HYPOT2(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y),
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HYPOT2(z_auto_align_pos[1].x - z_auto_align_pos[1].y, z_auto_align_pos[2].x - z_auto_align_pos[2].y),
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HYPOT2(z_auto_align_pos[2].x - z_auto_align_pos[2].y, z_auto_align_pos[0].x - z_auto_align_pos[0].y)))
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HYPOT2(z_auto_align_pos[1].x - z_auto_align_pos[1].y, z_auto_align_pos[2].x - z_auto_align_pos[2].y),
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HYPOT2(z_auto_align_pos[2].x - z_auto_align_pos[2].y, z_auto_align_pos[0].x - z_auto_align_pos[0].y)))
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#else
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HYPOT(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y)
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#endif
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@ -147,12 +170,10 @@ void GcodeSuite::G34() {
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current_position.z -= z_probe * 0.5f;
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float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
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z_measured[Z_STEPPER_COUNT] = { 0 },
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z_measured[G34_PROBE_COUNT] = { 0 },
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z_maxdiff = 0.0f,
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amplification = z_auto_align_amplification;
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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uint8_t iteration;
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bool err_break = false;
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for (iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
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@ -161,17 +182,19 @@ void GcodeSuite::G34() {
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SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
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// Initialize minimum value
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float z_measured_min = 100000.0f;
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float z_measured_min = 100000.0f,
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z_measured_max = -100000.0f;
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// Probe all positions (one per Z-Stepper)
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for (uint8_t izstepper = 0; izstepper < Z_STEPPER_COUNT; ++izstepper) {
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for (uint8_t i = 0; i < G34_PROBE_COUNT; ++i) {
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// iteration odd/even --> downward / upward stepper sequence
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const uint8_t zstepper = (iteration & 1) ? Z_STEPPER_COUNT - 1 - izstepper : izstepper;
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const uint8_t iprobe = (iteration & 1) ? G34_PROBE_COUNT - 1 - i : i;
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// Safe clearance even on an incline
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if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
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if (iteration == 0 || i > 0) do_blocking_move_to_z(z_probe);
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// Probe a Z height for each stepper.
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const float z_probed_height = probe_at_point(z_auto_align_pos[zstepper], raise_after, 0, true);
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const float z_probed_height = probe_at_point(z_auto_align_pos[i], raise_after, 0, true);
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if (isnan(z_probed_height)) {
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SERIAL_ECHOLNPGM("Probing failed.");
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err_break = true;
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@ -180,35 +203,58 @@ void GcodeSuite::G34() {
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// Add height to each value, to provide a more useful target height for
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// the next iteration of probing. This allows adjustments to be made away from the bed.
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z_measured[zstepper] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
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z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " measured position is ", z_measured[zstepper]);
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(iprobe + 1), " measured position is ", z_measured[iprobe]);
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// Remember the minimum measurement to calculate the correction later on
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z_measured_min = _MIN(z_measured_min, z_measured[zstepper]);
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} // for (zstepper)
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z_measured_min = _MIN(z_measured_min, z_measured[iprobe]);
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z_measured_max = _MAX(z_measured_max, z_measured[iprobe]);
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} // for (i)
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if (err_break) break;
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// Adapt the next probe clearance height based on the new measurements.
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// Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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z_maxdiff = _MAX(ABS(z_measured[0] - z_measured[1]), ABS(z_measured[1] - z_measured[2]), ABS(z_measured[2] - z_measured[0]));
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z_probe = Z_BASIC_CLEARANCE + _MAX(z_measured[0], z_measured[1], z_measured[2]) + z_maxdiff;
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#else
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z_maxdiff = ABS(z_measured[0] - z_measured[1]);
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z_probe = Z_BASIC_CLEARANCE + _MAX(z_measured[0], z_measured[1]) + z_maxdiff;
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z_maxdiff = z_measured_max - z_measured_min;
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z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff;
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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// Replace the initial values in z_measured with calculated heights at
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// each stepper position. This allows the adjustment algorithm to be
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// shared between both possible probing mechanisms.
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// This must be done after the next z_probe height is calculated, so that
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// the height is calculated from actual print area positions, and not
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// extrapolated motor movements.
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// Compute the least-squares fit for all probed points.
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// Calculate the Z position of each stepper and store it in z_measured.
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// This allows the actual adjustment logic to be shared by both algorithms.
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linear_fit_data lfd;
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incremental_LSF_reset(&lfd);
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for (uint8_t i = 0; i < G34_PROBE_COUNT; ++i) {
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SERIAL_ECHOLNPAIR("PROBEPT_", int(i + 1), ": ", z_measured[i]);
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incremental_LSF(&lfd, z_auto_align_pos[i], z_measured[i]);
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}
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finish_incremental_LSF(&lfd);
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z_measured_min = 100000.0f;
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for (uint8_t i = 0; i < Z_STEPPER_COUNT; ++i) {
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z_measured[i] = -(lfd.A * z_stepper_pos[i].x + lfd.B * z_stepper_pos[i].y);
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z_measured_min = _MIN(z_measured_min, z_measured[i]);
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}
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SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
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#endif
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SERIAL_ECHOPAIR("\n"
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SERIAL_ECHOLNPAIR("\n"
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"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
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, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
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#endif
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);
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SERIAL_EOL();
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SERIAL_EOL();
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// The following correction actions are to be enabled for select Z-steppers only
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stepper.set_separate_multi_axis(true);
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@ -220,8 +266,10 @@ void GcodeSuite::G34() {
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const float z_align_move = z_measured[zstepper] - z_measured_min,
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z_align_abs = ABS(z_align_move);
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// Optimize one iterations correction based on the first measurements
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if (z_align_abs > 0.0f) amplification = iteration == 1 ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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// Optimize one iteration's correction based on the first measurements
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if (z_align_abs > 0.0f) amplification = iteration == 1 ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
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#endif
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// Check for less accuracy compared to last move
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if (last_z_align_move[zstepper] < z_align_abs - 1.0) {
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@ -266,7 +314,6 @@ void GcodeSuite::G34() {
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SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " iterations of ", int(z_auto_align_iterations));
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SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
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SERIAL_EOL();
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// Restore the active tool after homing
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#if HOTENDS > 1
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@ -299,31 +346,82 @@ void GcodeSuite::G34() {
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}
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/**
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* M422: Z-Stepper automatic alignment parameter selection
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* M422: Set a Z-Stepper automatic alignment XY point.
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* Use repeatedly to set multiple points.
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*
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* S<index> : Index of the probe point to set
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*
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* With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS:
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* W<index> : Index of the Z stepper position to set
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* The W and S parameters may not be combined.
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*
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* S and W require an X and/or Y parameter
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* X<pos> : X position to set (Unchanged if omitted)
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* Y<pos> : Y position to set (Unchanged if omitted)
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*/
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void GcodeSuite::M422() {
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const int8_t zstepper = parser.intval('S') - 1;
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if (!WITHIN(zstepper, 0, Z_STEPPER_COUNT - 1)) {
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SERIAL_ECHOLNPGM("?(S) Z-Stepper index invalid.");
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if (!parser.seen_any()) {
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for (uint8_t i = 0; i < G34_PROBE_COUNT; ++i)
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SERIAL_ECHOLNPAIR("M422 S", i + 1, " X", z_auto_align_pos[i].x, " Y", z_auto_align_pos[i].y);
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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for (uint8_t i = 0; i < Z_STEPPER_COUNT; ++i)
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SERIAL_ECHOLNPAIR("M422 W", i + 1, " X", z_stepper_pos[i].x, " Y", z_stepper_pos[i].y);
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#endif
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return;
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}
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const xy_pos_t pos = {
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parser.floatval('X', z_auto_align_pos[zstepper].x),
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parser.floatval('Y', z_auto_align_pos[zstepper].y)
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};
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const bool is_probe_point = parser.seen('S');
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if (!WITHIN(pos.x, X_MIN_POS, X_MAX_POS)) {
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SERIAL_ECHOLNPGM("?(X) out of bounds.");
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return;
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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if (is_probe_point && parser.seen('W')) {
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SERIAL_ECHOLNPGM("?(S) and (W) may not be combined.");
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return;
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}
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#endif
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xy_pos_t *pos_dest = (
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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!is_probe_point ? z_stepper_pos :
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#endif
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z_auto_align_pos
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);
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// Get the Probe Position Index or Z Stepper Index
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int8_t position_index;
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if (is_probe_point) {
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position_index = parser.intval('S') - 1;
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if (!WITHIN(position_index, 0, int8_t(G34_PROBE_COUNT) - 1)) {
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SERIAL_ECHOLNPGM("?(S) Z-ProbePosition index invalid.");
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return;
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}
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}
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else {
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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position_index = parser.intval('W') - 1;
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if (!WITHIN(position_index, 0, Z_STEPPER_COUNT - 1)) {
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SERIAL_ECHOLNPGM("?(W) Z-Stepper index invalid.");
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return;
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}
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#endif
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}
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if (!WITHIN(pos.y, Y_MIN_POS, Y_MAX_POS)) {
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SERIAL_ECHOLNPGM("?(Y) out of bounds.");
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return;
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const xy_pos_t pos = {
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parser.floatval('X', pos_dest[position_index].x),
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parser.floatval('Y', pos_dest[position_index].y)
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};
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if (is_probe_point) {
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if (!position_is_reachable_by_probe(pos.x, Y_CENTER)) {
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SERIAL_ECHOLNPGM("?(X) out of bounds.");
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return;
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}
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if (!position_is_reachable_by_probe(pos)) {
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SERIAL_ECHOLNPGM("?(Y) out of bounds.");
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return;
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}
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}
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z_auto_align_pos[zstepper] = pos;
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pos_dest[position_index] = pos;
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}
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#endif // Z_STEPPER_AUTO_ALIGN
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Jason Smith
5 years ago
committed by